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Sorry if this ultimately goes through more than once. I am having some issues with submitting it.... I need to teach coordinate systems and transformations to a college robotics class. I have used Tikz in the past to generate some graphics, but I want to switch to doing everything in matplotlib if possible. (Tikz is super powerful and makes beautiful graphics, but it always takes me a long time to generate a figure). One of my initial problems is drawing two axes on top of one another, but with one of them rotated by an arbitrary angle. I am attaching the Tikz result that I want to recreate in matplotlib. Other than drawing lines "by hand", I don't really know where to start. Any help would be appreciated. In case the mailing list doesn't allow attached graphics, here is a link to the image on my google drive: https://drive.google.com/open?id=1XVKcZEK76SQL2cW5yASbQCMvR0GZKgz- Thanks! Ryan